ness of the firmware, increase the communications bus bandwidth, implement a bundle adjustment algorithm, and to calibrate the system. The first two steps are both imple- mentation details and are achievable through firmware and hardware changes. The last
two steps may ware provided
require significant further research. Initially, the bundle adjustment soft-
by Lourakis and
rgyros could be investigated to determine how suitable
their approach is. System method. However, offline
calibration could be partially solved by the bundle adjustment lens calibration may prove advantageous and the method pro-
of the camera modules’ poses within the hub enclosure, and possibly the marker models. Marker models should describe how a centroid is biased the angle it is viewed upon.
construction with respect
In summary, the Black Spot modules have potential to become part of a future optical tracking system with further research and development.